EP3431361A2 - Operating a rail vehicle with an imaging system - Google Patents

Abstract

The invention relates to a rail vehicle (1) having an imaging system for detecting a space outside the rail vehicle (1), wherein the imaging system has four imaging devices (2, 3, 4, 5), each of the four imaging devices (2, 3, 4, 5) can generate or generate two-dimensional images of the space during operation of the imaging system, a first (2) and a second (3) of the four imaging devices (2, 3, 4, 5) are arranged at a first distance from one another on the rail vehicle (1) and form a first stereo pair (2, 3), that captures a first common part (8a) of the room from different angles, a third (4) and a fourth (5) of the four imaging devices (2, 3, 4, 5) are arranged at a second distance from one another on the rail vehicle (1) and form a second stereo pair (4, 5), which detects a second common part (8b) of the room from different angles, the first common part (8a) of the space detected by the first stereo pair (2, 3) starts at a greater distance to the rail vehicle (1) than the second common part (8b) of the room which is from the room second stereo pair (4, 5) is detected.

Description

The invention relates to a rail vehicle with an imaging system for detecting a space outside the rail vehicle. The invention further relates to a system for operating a rail vehicle. Moreover, the invention relates to a method for operating a rail vehicle.

It is known to operate rail vehicles on routes that are free of other traffic without drivers. In terms of passenger transport, rail vehicles are designed to handle larger numbers of passengers than most types of road vehicles. Examples of driverless rail vehicles are so-called people mover, which operate between the different parts of airports. Rail vehicles have the advantage that they are guided on their lane by externally acting forces and can not leave the route, but in many systems there is the possibility to choose one of several possible routes on switches. Due to the tracking, rail vehicles do not necessarily require steering as in road vehicles. Rail vehicles are therefore well suited for autonomous, driverless operation. In the case of driverless operation in rooms in which persons and / or non-track-guided vehicles also operate, it is to be ensured in the case of driverless operation of rail vehicles that other road users are not endangered, in particular due to possible collisions.

When rail vehicles are controlled by a driver, driver assistance systems can be used to assist the driver in making decisions to steer the vehicle. For example, collision warning systems are known which warn the driver of an impending, potential collision. In such systems, for example, radar sensors, ultrasonic sensors, laser triangulation systems, and / or imaging devices such as digital cameras can be used to generate two-dimensional images of the space outside the rail vehicle. By image evaluation, the depth of a possible collision object, ie the distance from the image forming device, can be determined. In addition to the use of stereo systems, the comparison of image objects in individual images with known depth positions is also possible, which can be determined, for example, in the case of travel paths along which objects at constant intervals or of known length extend.

In addition to the advantage of not necessarily needing a steering, the operation of rail vehicles but also has the disadvantage that in an imminent collision avoidance is possible and even with timely braking the obstacle can not be avoided. Associated with this is the requirement that the rail vehicle according to its envelope, which is determined by the maximum extent of the vehicle cross section, always requires sufficient space that extends immovably along the route. The envelope is also determined by static effects, in particular kinematic effects, and also by dynamic effects, in particular elastic deformations (for example spring travel) of the vehicle. In contrast to trucks and other vehicles that are operated freely steerable on roads, rail vehicles measured in the direction of travel often have larger vehicle lengths, which affects the space required for cornering clearance and difficult to detect the relevant for the operation of the vehicle vehicle exterior. Also, compared to rubber-tired road vehicles in rail vehicles that drive on rails made of metal, lower acceleration and braking forces are transmitted to the track.

An autonomous, driverless operation of a rail vehicle therefore places special demands on traffic areas that are not free of other traffic.

US 2014/218482 A1 describes the use of widely separated and coordinated cameras that allow trains to detect obstacles and calculate the distance to them. This in turn allows a quick response and early braking to avoid accidents.

DE 44 46 452 A1 US-A-4125113 describes a vehicular guiding apparatus and method for a vehicle including a stereoscopic image processing apparatus for an object outside the vehicle, imaged by an imaging system (10) mounted on the vehicle, comprising a construction detector element for detecting a plurality of different constructions and articles by using three-dimensional ones Position data calculated for each region of an object corresponding to the distance distribution data from the stereoscopic image processing device; further, gap distance calculating means for respectively calculating the nearest distance as right and left clearance distances between an extended line of the left and right side of the vehicle and each of the ends on the vehicle side of a plurality of different constructions detected by the device, and information means informing the driver of data relating to this gap distance data so as to obtain a distance distribution of the whole image depending on deviation amount positions corresponding to the pair of stereoscopic images according to a triangulation principle to win.

It is an object of the present invention to provide a rail vehicle with an image forming system and a method of operating such a rail vehicle, which enable a reliable autonomous driving operation. It is a further task to be able to continue the driving operation as possible even if an obstacle seems to block or block the route. For this purpose, a system for operating a rail vehicle and a method for operating the system should be specified.

According to the claims, an imaging system for detecting a space outside the rail vehicle comprises four imaging devices, wherein each of the four imaging devices can generate or generate two-dimensional images of the space during operation of the imaging system. A first and a second of the four image forming devices are arranged at a first distance from one another and form a first stereo pair, which detects a first common part of the space from different angles of view. A third and a fourth of the four image forming devices are arranged at a second distance from each other and form a second stereo pair, which detects a second common part of the space from different angles.

there

• the first common part of the space detected by the first stereo pair starts at a greater distance from the rail vehicle than the second common part of the space detected by the second stereo pair,
• the first common part of the space, which is detected by the first stereo pair, is located predominantly at greater distances to the rail vehicle than the second common part of the space, which is detected by the second stereo pair, and / or
• For example, the first stereo pair is configured to detect a space area located farther from the rail vehicle than the second stereo pair.

Compared to the use of a single stereo pair, the accuracy of the detection of the room can be increased. Due to the greater accuracy and a reliable autonomous operation is possible.

In the following three measures are specified with which the reliability is increased in the autonomous, driverless operation of a rail vehicle, but also in an operation with a driver in the rail vehicle. These measures are preferably carried out or realized in combination with each other. However, it is also possible to realize the three measures individually or any combination of two of the measures. In particular, any of the measures may be carried out and the other two measures individually or in combination with each other may be referred to as a further development of the measure. Each of the measures may include a device or system and additionally an operating method for operating the device or system.

According to a first measure, a rail vehicle comprises an imaging system for detecting a space outside the rail vehicle, wherein a plurality of image forming means is provided, forming a first stereo pair and a second stereo pair. The image forming means of each of the stereo pairs detect a common part of the space from different angles, thereby enabling calculation of depth information. However, such a calculation is not mandatory. On the contrary, the images produced by the respective stereo pair can only be displayed separately, in particular in such a way that a person perceives the image of one of the image generation devices with his right eye and the image of the other image generation device of the stereo pair with his left eye. The result is the same or similar spatial impression as if the person were looking directly at the room with his own eyes.

The distance of the image forming devices of the first stereo pair is in particular greater than the distance of the image forming devices of the second stereo pair. Therefore, at least three imaging devices are needed. It is, however, one The invention is based on the recognition that the image generation system is more reliably available if the image generation system has at least four imaging devices, with two imaging devices each forming a stereo pair. If, in fact, only one of the three existing imaging devices fails, or if it can not be used faultlessly (ie without interference), which is involved in both stereo pairs, stereoscopic image acquisition would no longer be possible. In contrast, with at least four imaging devices, the failure of an imaging device does not cause the function of both stereo pairs to be disturbed. At least one stereo pair remains functional. Furthermore, if at least the images of three of the four imaging devices can still be used without interference, two stereo image pairs can be formed. The three imaging devices thus form two stereo pairs of devices and provide two stereo image pairs. At least one image from one of the three imaging devices is therefore used for both stereo image pairs. The phrase "at least four imaging devices" expressly includes the case where the imaging system has more than four imaging devices. This also applies to all embodiments of the invention described below.

In the text which follows, a failed image generation device is understood to mean that this image generation device does not generate an image, that this image generation device does not generate an image usable for the evaluation and / or that a transmission of an image or images of this image generation device to an evaluation device does not take place. A disturbed image-generating device is understood to mean that this image-generating device generates at least one faulty image and / or that a transmission of an image or images of this image-generating device to the evaluation device is faulty. Cause of a faulty image can z. B. also be an obstacle between an object to be observed outside the vehicle and the image generating device. The faulty image allows z. For example, it does not recognize the object, or it only blurs the object. For example, a windshield wiper of the vehicle moves along a windscreen and causes one or more erroneous images of an image sequence of the imaging device. It is therefore preferred that it is not necessarily decided immediately after the recognition of a disturbed image, the images of the image forming device is no longer to use. For example, one or more faulty images of a sequence of images can be tolerated if, after that, at least one error-free image is again generated in the same image sequence and / or an image is evaluated by evaluating the image sequence Images of the image sequence tracked object is recognized again from at least one image of the image sequence. For example, it may be decided depending on the situation whether the images generated by the image generation device can continue to be used and therefore the formation of other stereo pairs can be dispensed with.

• das Bilderzeugungssystem vier Bilderzeugungseinrichtungen aufweist,
• jede der vier Bilderzeugungseinrichtungen während eines Betriebes des Bilderzeugungssystems zweidimensionale Bilder des Raumes erzeugt oder erzeugen kann,
• eine erste und eine zweite der vier Bilderzeugungseinrichtungen in einem ersten Abstand zueinander an dem Schienenfahrzeug angeordnet sind und ein erstes Stereo-Paar bilden, das einen ersten gemeinsamen Teil des Raumes aus unterschiedlichen Blickwinkeln erfasst,
• eine dritte und eine vierte der vier Bilderzeugungseinrichtungen in einem zweiten Abstand zueinander an dem Schienenfahrzeug angeordnet sind und ein zweites Stereo-Paar bilden, das einen zweiten gemeinsamen Teil des Raumes aus unterschiedlichen Blickwinkeln erfasst,
• der erste Abstand größer ist als der zweite Abstand,
• der erste gemeinsame Teil des Raumes und der zweite gemeinsame Teil des Raumes einen gemeinsamen Raumbereich haben,
• eine Auswertungseinrichtung des Bilderzeugungssystems, die mit den vier Bilderzeugungseinrichtungen verbunden ist, bei einem Betrieb des Bilderzeugungssystems Bilddaten von den vier Bilderzeugungseinrichtungen empfängt,

wobei es das Bilderzeugungssystem erkennt, wenn eine Auswertung von Bilddaten einer ausgefallenen und/oder gestörten Bilderzeugungseinrichtung der vier Bilderzeugungseinrichtungen während einer Betriebsphase des Bilderzeugungssystems nicht möglich oder fehlerhaft ist,
wobei die ausgefallene und/oder gestörte Bilderzeugungseinrichtung eine beliebige der vier Bilderzeugungseinrichtungen sein kann,
wobei die Auswertungseinrichtung während der Betriebsphase die Bilddaten, die die Auswertungseinrichtung von drei anderen der vier Bilderzeugungseinrichtungen empfängt, die nicht die ausgefallene und/oder gestörte Bilderzeugungseinrichtung sind, als Bilddaten verwendet, die ein erstes Stereo-Bildpaar und ein zweites Stereo-Bildpaar enthalten, wobei das erste Stereo-Bildpaar den Bilddaten von zwei der drei anderen Bilderzeugungseinrichtungen entspricht, die in einem dritten Abstand zueinander an dem Schienenfahrzeug angeordnet sind, und das zweite Stereo-Bildpaar den Bilddaten von zwei der drei anderen Bilderzeugungseinrichtungen entspricht, die in einem vierten Abstand zueinander an dem Schienenfahrzeug angeordnet sind, und wobei der dritte Abstand und der vierte Abstand unterschiedlich groß sind.In particular, it is proposed: A rail vehicle having an imaging system for detecting a space outside the rail vehicle, wherein

• the imaging system has four imaging devices,
• each of the four imaging devices can generate or generate two-dimensional images of the space during operation of the imaging system;
• a first and a second of the four imaging devices are arranged at a first distance from each other on the rail vehicle and form a first stereo pair that detects a first common part of the space from different angles,
• a third and a fourth of the four imaging devices are arranged at a second distance from one another on the rail vehicle and form a second stereo pair, which detects a second common part of the space from different angles of view,
• the first distance is greater than the second distance,
• the first common part of the room and the second common part of the room have a common space area,
• an evaluation device of the image forming system, which is connected to the four image forming devices, receives image data from the four image forming devices during operation of the image forming system,

wherein it recognizes the image forming system when an evaluation of image data of a failed and / or disturbed image forming device of the four image forming devices during an operating phase of the image forming system is not possible or erroneous,
wherein the failed and / or disturbed imaging device may be any of the four imaging devices,
wherein, during the operation phase, the evaluation means uses the image data which the evaluation means receives from three other of the four image forming means other than the failed and / or disturbed image forming means as image data comprising a first stereo image pair and a second stereo image pair wherein the first stereo image pair corresponds to the image data of two of the three other imaging devices located at a third distance from each other on the rail vehicle and the second stereo image pair corresponds to image data from two of the three other imaging devices included in a fourth Distance from one another are arranged on the rail vehicle, and wherein the third distance and the fourth distance are of different sizes.

• ein Bilderzeugungssystem des Schienenfahrzeugs mit zumindest vier Bilderzeugungseinrichtungen einen Raum außerhalb des Schienenfahrzeugs erfasst,
• jede der zumindest vier Bilderzeugungseinrichtungen zweidimensionale Bilder des Raumes erzeugt oder erzeugen kann,
• eine erste und eine zweite der zumindest vier Bilderzeugungseinrichtungen in einem ersten Abstand zueinander an dem Schienenfahrzeug angeordnet sind und ein erstes Stereo-Paar bilden, das einen ersten gemeinsamen Teil des Raumes aus unterschiedlichen Blickwinkeln erfasst,
• eine dritte und eine vierte der zumindest vier Bilderzeugungseinrichtungen in einem zweiten Abstand zueinander an dem Schienenfahrzeug angeordnet sind und ein zweites Stereo-Paar bilden, das einen zweiten gemeinsamen Teil des Raumes aus unterschiedlichen Blickwinkeln erfasst,
• der erste Abstand größer ist als der zweite Abstand,
• der erste gemeinsame Teil des Raumes und der zweite gemeinsame Teil des Raumes einen gemeinsamen Raumbereich haben,
• eine Auswertungseinrichtung des Bilderzeugungssystems, die mit den vier Bilderzeugungseinrichtungen verbunden ist, bei einem Betrieb des Bilderzeugungssystems Bilddaten von den vier Bilderzeugungseinrichtungen empfängt,

wobei es das Bilderzeugungssystem erkennt, wenn eine Auswertung von Bilddaten einer ausgefallenen und/oder gestörten Bilderzeugungseinrichtung der vier Bilderzeugungseinrichtungen während einer Betriebsphase des Bilderzeugungssystems nicht möglich oder fehlerhaft ist,
wobei die ausgefallene und/oder gestörte Bilderzeugungseinrichtung eine beliebige der vier Bilderzeugungseinrichtungen sein kann,
wobei die Auswertungseinrichtung während der Betriebsphase die Bilddaten, die die Auswertungseinrichtung von drei anderen der vier Bilderzeugungseinrichtungen empfängt, die nicht die ausgefallene und/oder gestörte Bilderzeugungseinrichtung sind, als Bilddaten verwendet, die ein erstes Stereo-Bildpaar und ein zweites Stereo-Bildpaar enthalten, wobei das erste Stereo-Bildpaar den Bilddaten von zwei der drei anderen Bilderzeugungseinrichtungen entspricht, die in einem dritten Abstand zueinander an dem Schienenfahrzeug angeordnet sind, und das zweite Stereo-Bildpaar den Bilddaten von zwei der drei anderen Bilderzeugungseinrichtungen entspricht, die in einem vierten Abstand zueinander an dem Schienenfahrzeug angeordnet sind, und wobei der dritte Abstand und der vierte Abstand unterschiedlich groß sind.Furthermore, a method for operating a rail vehicle is proposed, wherein

• an imaging system of the rail vehicle with at least four imaging devices detects a space outside the rail vehicle,
• each of the at least four imaging devices can generate or generate two-dimensional images of the space,
• a first and a second of the at least four imaging devices are arranged at a first distance from one another on the rail vehicle and form a first stereo pair that detects a first common part of the space from different angles,
• a third and a fourth of the at least four imaging devices are arranged at a second distance from one another on the rail vehicle and form a second stereo pair which detects a second common part of the space from different angles of view,
• the first distance is greater than the second distance,
• the first common part of the room and the second common part of the room have a common space area,
• an evaluation device of the image forming system, which is connected to the four image forming devices, receives image data from the four image forming devices during operation of the image forming system,

wherein it recognizes the image forming system when an evaluation of image data of a failed and / or disturbed image forming device of the four image forming devices during an operating phase of the image forming system is not possible or erroneous,
wherein the failed and / or disturbed imaging device may be any of the four imaging devices,
wherein the evaluation device during the operating phase, the image data, the evaluation device of three other of the four imaging devices receives, which are not the failed and / or disturbed image generating device, as image data containing a first stereo image pair and a second stereo image pair, wherein the first stereo image pair corresponds to the image data of two of the three other image forming devices, which in a third distance from each other on the rail vehicle are arranged, and the second stereo image pair corresponds to the image data of two of the three other imaging devices, which are arranged at a fourth distance from each other on the rail vehicle, and wherein the third distance and the fourth distance are different.

Of course, the third distance or the fourth distance may correspond to the first distance or the second distance, depending on which stereo pairs were formed before the failure or disturbance.

The rail vehicle is in particular a light rail vehicle, for example a tram or light rail.

It should be clarified once again that even with the undisturbed operation of the imaging system, if four imaging devices are available without interference, there are two possibilities to generate the first stereo image pair and the second stereo image pair. In the first approach, all four imaging devices provide images used for the stereo image pairs. Preferably, the imaging system can be operated this way. According to the second possibility, only images of three of the four imaging devices are used for the two stereo image pairs, that is, at least one image of one of the three imaging devices is used for both stereo image pairs. In the terminology used above, the first image generation device is then also the third or fourth image generation device or the second image generation device also the third or fourth image formation device.

For example, the evaluation device and / or another device of the imaging system can recognize that an evaluation of image data of the failed and / or disturbed imaging device is not possible or incorrect. Such another means may be, for example, a device which processes images generated by the image forming devices solely for the purpose of detecting the failure and / or the disturbance of an image forming device. The additional device in this case outputs a signal to the evaluation device, For example, a signal that uniquely contains the information about the failed and / or disturbed image generator. To recognize the failure and / or the disturbance, at least one image can be checked in particular for plausibility of its image content. Preferably, the image generating devices continuously generate images over time and the corresponding sequence of images is also evaluated for the purpose of detecting the failure and / or the disturbance. In this case, at least one object (for example another vehicle or a person) can be recognized in an image of the image sequence. During the evaluation, an attempt is made to recognize this object in the following images of the same image sequence. If the object has disappeared in an implausible manner in at least one of the following images and / or has moved in an implausible manner, it can be decided that the image generation device is disturbed or at least the transmission or evaluation of images of this image generation device is disturbed. In the case of failure of an image generation device, this can generally be determined in a simple manner by the fact that no image signal corresponding to an image is received by the evaluation device and / or the other device, or that the received image signal has a property characteristic of a failure, for example the Distribution of image values corresponds to a white noise or too many image values are the same size.

Since in case of failure or malfunction of one of the image forming devices still three image forming devices are available and are also provided for the evaluation of two stereo image pairs, the reliability in the detection of the spatial area is increased. In any case, with an arrangement of the three image forming devices which are not arranged at the corners of an equilateral triangle, it is always possible to define two stereo pairs of the image forming devices in which the image forming devices of the individual stereo pairs have different spacings. This is the case, in particular, in the case of the embodiment described below with image-generating devices arranged side by side. Since two such stereo pairs are to be formed with different distances in case of failure and / or interference of any of the four imaging devices and the corresponding stereo image pairs are formed in the evaluation of the images, it is generally stated that no arbitrary group of three of the four Image forming devices are arranged as the vertices of an equilateral triangle.

In particular, at least three of the four imaging devices can be arranged next to each other, so that all distances between the at least three of the four imaging devices are defined one behind the other in a common plane. This ensures that stereo pairs formed from the imaging devices have different distances between the imaging devices of the respective pair. Each of the stereo pairs can therefore be designed for the detection of the common space area, but at different depth of field.

It is generally preferred, not only in the case of juxtaposed image-forming devices, that the optical devices of the image-generating devices each have a constant focal length in an operating phase of the image-generating device. Image acquisition with constant focal lengths is particularly reliable and fast. The problem of having to decide on which of the objects the image is focused in the presence of several objects of interest in the detected space area is avoided. Also, the time for focusing (that is, adjusting the focal length) can be saved and more images can be generated per time interval in an image sequence. However, this does not preclude the fact that in the transition from a first phase of operation to a second phase of operation, for example, because a failure and / or a fault has been recognized, the focal length of the optical device of at least one of the image forming devices is changed. Such a change is even preferred to optimize the imaging system in the second phase of operation. In particular, the image generator that provides images for both stereo image pairs can be set to a shorter focal length than before. This is based on the knowledge that a detection of objects (in particular a detection of the outline of the respective respective object) at a distance that is significantly larger than the focal length, is well possible, whereas a detection of objects at a distance that clearly smaller than the focal length is not possible or leads to significant errors in the evaluation.

Preferably, the first and second image forming means and / or the third and fourth image forming means are spaced apart in the horizontal direction, and the first distance and the second distance are related to the horizontal direction.
This does not exclude (although not preferred) that the two imaging devices of the same stereo pair (ie the first and second Image forming device or the third and fourth image forming device) are arranged at different heights in or on the rail vehicle, wherein an arrangement at the same height is preferred and / or arranged in the vehicle longitudinal direction at different longitudinal positions, wherein an arrangement is preferred at the same longitudinal position. In particular, however, it is also possible that the first and third image forming means are arranged one above the other at the same horizontal position or are arranged directly adjacent to each other in the horizontal direction, taking into account their design, smallest possible horizontal distance. In these two cases, for example, the stereoscopic image pairs recorded by the first stereo pair and the second stereo pair can be evaluated jointly in a particularly simple manner, because the first common part of the space detected by the first stereo pair is outside the rail vehicle and that of the first second stereo pair detected second common part of the space each have a reference point defined by the first and third imaging device, wherein the two reference points at least approximately the same horizontal position or when arranged in the horizontal direction next to each other have the lowest possible horizontal distance from each other.

In particular, for each of the four imaging devices, the distances to each other of the four imaging devices may be different. Therefore, in case of failure or disturbance of any of the four image forming devices, favorable stereo pairs of the image forming devices can always be formed, the stereo image pairs of which are well suited for detecting the common space area at different detection depths. This means that, for example, the first pair of stereo image captures the common area well at greater distances to the vehicle, and the second pair of stereo images capture the common area well at smaller distances to the vehicle.

In particular, information about the depth of image objects detected in the images of a stereo image pair may be calculated according to the principle of triangulation. Due to the distance of the image forming devices of the same stereo pair that has taken the stereo image pair, and due to the fact that the image forming devices view the same image object or the same part of the image object from different angles, a triangle results in the detected space outside the rail vehicle. For example, it will be Correspondences of pixels formed in the two images of the same stereo image pair. Embodiments of stereoscopic methods for obtaining depth information are known per se and will therefore not be described in detail here. In particular, it is therefore possible and is preferably also carried out in embodiments of the present invention such that depth positions are calculated for a plurality of image objects which have been detected by the stereo image pairs. In particular, the depth position is related to a reference point of the stereo pair, which lies, for example, in the middle between the two imaging devices of the stereo pair.

Preferably, the first stereo pair is configured and / or used to capture image objects and optionally their depth positions, which have a greater depth than image objects captured by the second stereo pair. The first stereo pair is better suited for detecting objects with greater depths, since the distance of the image forming means of the first stereo pair is greater than the distance of the image forming means of the second stereo pair. In particular, the imaging system can be designed in such a way that the centers of the images captured by the first stereo pair coincide at a greater depth position in a common spatial point than in the second stereo pair. In other words, the first common part of the space detected by the first stereo pair is predominantly located at greater depth positions than the second common part of the space detected by the second stereo pair. This is achieved, for example, already by the fact that the distance of the image forming devices of the first stereo pair is greater than that of the second stereo pair and optionally the viewing angle difference of the first stereo pair with respect to the image centers of the same size as the viewing angle difference of the second stereo pair is on the picture centers. The viewing angle difference is the deviation of the viewing angle from the viewing angle of the other imaging device of the same stereo pair. However, the different depth orientation is also achieved with designs that deviate from these equally large viewing angle differences. For example, the viewing angle difference of the first stereo pair may be smaller than the second stereo pair. Alternatively or additionally, the aperture angle of the space regions detected by the image forming means of the first stereo pair may be smaller than in the second stereo pair.

It is preferred that the first stereo image pairs, i. the images produced by the image generators of the first stereo pair, and the second stereo image pairs, i. the images generated by the image generating means of the second stereo pair, first independently (but in particular in the same arithmetic unit) are evaluated and in this way depth information is obtained. For example, is the depth information in the depth position of at least one object outside the vehicle. Furthermore, it is preferred that the depth information obtained from the first stereo image pairs is compared with the depth information obtained from the second stereo image pairs. For example, depth positions are compared, which were determined by evaluating the first stereo image pair as well as the second stereo image pair for the same object. In particular, the object may be a road user, such as a road vehicle or a pedestrian. Furthermore, it is preferred that information about a movement of an object detected by the first stereo pair and the second stereo pair is determined both from a temporal sequence of successively recorded first stereo image pairs and from a sequence of successively recorded second stereo image pairs , eg by repeatedly determining the depth position of the object, and preferably by additionally determining the position transverse to the depth direction. The result of such determination of the movement of the object may e.g. an impending collision with the rail vehicle. Another result may be that the object does not collide with the rail vehicle. In order to determine the result, in particular the movement determined from the respective sequence of stereo image pairs can, for example, be extrapolated into the future.

In particular, it can be determined by comparing the results of the evaluation of the first stereo image pair and the evaluation of the second stereo image pair whether the results match or at least agree within (in particular predetermined) tolerance limits. For example, a tolerance in the depth direction, by which the depth positions of the same object determined from the first and second stereo image pairs may deviate from one another, is predetermined for the deviation of the depth position of an object determined from the first and second stereo image pairs. For example, inaccuracies in the determination of depth positions are taken into account. If the depth positions deviate from one another by more than the specified tolerance, ie if the depth position of one of the stereo image pairs is outside the tolerance range of the depth position from the other stereo image pair, it is decided that the results do not coincide with one another. This can especially be considered a Note on an error in the image acquisition and / or image analysis of one of the two stereo image pairs to be construed. In the determination of movements from sequences of the stereo image pairs can proceed accordingly and, for example, a tolerance for the position of an object in the detected space outside the rail vehicle can be specified. The position is determined in particular by the depth position and additionally by two position values transversely to one another and transversely to the depth direction. A comparison becomes possible because the first common part of the space that the first stereo pair detects and the second common part of the room that the second stereo pair detects have a common space area. In other words, the first and second common parts of the room overlap or they are identical in a special case.

In particular, the four imaging devices are arranged in a front region of the rail vehicle such that the common space region lies in front of the rail vehicle during travel of the rail vehicle in the direction of travel. This also includes cases in which the common space area is adjacent to the route that the rail vehicle still has to travel. In particular, for the prediction of whether other road users or objects can collide with the rail vehicle, these areas of space next to the route of interest.

Overall, the first stereo pair and the second stereo pair do not capture as much of the exterior space of the rail vehicle as possible due to the common space. Rather, it is an advantage of the common space area that the mentioned comparisons are possible. Also, in the event of complete failure of one of the stereo pairs, ie when two of the four imaging devices have failed or are disturbed and either first or second stereo image pairs are unavailable, continued operation of the rail vehicle using the stereo image pairs of the still functional stereo Couples possible. In this case, the rail vehicle can be operated in particular in an operating mode in which the operation and in particular the driving operation is subject to restrictions. But even if there are still two stereo image pairs available, but the ratio of the distances of the image forming devices of the associated stereo pairs is unfavorable, such restrictions may apply. For example, in this mode, the maximum travel speed of the rail vehicle may be less than the mode with two functional stereo pairs. The common space area is therefore selected in particular so, ie the image generating devices designed and / or aligned so that the required for the operation of the rail vehicle or a driver assistance system parts of the exterior space are in the common space area. In the case described below, for example, this is the part of the outer space that lies in front of the rail vehicle in the direction of travel, with the exception of a short, eg some 10 cm deep part of the room, which starts immediately at the front of the rail vehicle. Due to the distance of the image forming devices from each other, this short space part is not detected when, as preferred, the image forming devices are located directly on the front of the rail vehicle inside or outside. In this case, "inside" or "outside" means that the entrance surface of the respective imaging device, through which the radiation enters, by means of which the imaging device detects the exterior space, lies inside or outside the envelope surface of the rail vehicle without imaging device. A position of the surface exactly on the envelope surface is considered as internal.

The image capture devices are preferably digital cameras, which in particular generate sequences of digital images. However, scanning recording methods are also possible in which the picture elements of each of the two-dimensional pictures are recorded in rapid succession, in order to obtain the overall information of the picture in this way. Furthermore, it is optionally possible to irradiate the space to be detected and to detect the radiation reflected back to the imaging device. In addition, the detected radiation is not limited to radiation visible to humans. Rather, alternatively or additionally, radiation in other wavelength ranges can also be detected. The detection of sound waves is possible. However, it is preferred that at least visible radiation is also detected by the imaging devices.

The detection of the space or part of the space in the direction of travel in front of the rail vehicle using the imaging system can be realized by a driver assistance system, in particular on board the rail vehicle. In the case of a driverless rail vehicle, the detection, as will be explained in more detail below for the third measure, enables remote monitoring and / or remote control of the rail vehicle.

The second measure, proposed below for increasing the reliability in the use of an imaging system, relates to the processing and / or transmission of the images generated by the imaging devices Image information. As mentioned, this second measure is also applicable if there are not four imaging devices in operation, of which two each form a stereo pair. The second measure is based on the object of specifying a rail vehicle and / or a method for operating a rail vehicle, wherein the reliability of the use of an imaging system is increased in particular for autonomous, driverless operation. However, the second measure can also be applied if only at least one driver assistance system uses the imaging system.

A basic idea of the second measure is that the image information generated by the imaging system is processed and / or transmitted using redundant devices.

In particular, it is proposed that the image generation system has a first computer unit and a second computer unit, which are each connected via image signal connections to each of the four imaging devices, the first computer unit and the second computer unit being configured independently of one another via the image signal connections during operation of the imaging system received image signals to calculate depth information about a depth of image objects that were detected with the two-dimensional images of the first stereo pair and / or the second stereo pair, the depth extending in a direction transverse to an image plane of the two-dimensional images.

This corresponds to an embodiment of the operating method, in which the first to fourth image generating device transmit image signals via image signal connections both to a first computer unit of the rail vehicle and to a second computer unit of the rail vehicle and the first computer unit and the second computer unit independently from the image signals depth information over a depth of image objects acquired with the two-dimensional images from the first stereo pair and / or the second stereo pair, the depth extending in a direction transverse to an image plane of the two-dimensional images. When only three of the four imaging devices generate and deliver images because of the failure or interference of one of the imaging devices, the image signals of these three imaging devices are transmitted to both the first computing device and the second computing device.

Generalized to an imaging system comprising at least one imaging device, the imaging device (s) are connected via image signal connections to both a first computer unit of the rail vehicle and a second computer unit of the railway vehicle and transmit image signals to both the first and the second during operation second computer unit. The two computer units process the image information thus obtained independently of each other. As a result, if a signal connection or one of the computer units fails, continued operation using the results of the image processing becomes possible. In the case of an imaging system with at least one stereo pair, therefore, despite the failure, depth information can be obtained and used. This is important for driverless operation of the rail vehicle.

The first and second computer units may be arranged in a common housing or at a distance from each other in the rail vehicle. It is advantageous in any case that the computer units independently evaluate the same image information.

During the operation of the two computer units, a comparison of the results of the processed image information obtained by the two computer units is preferably carried out. In case of deviations, it can be decided that the function of at least one of the computer units or the image information received from the computer units is / are disturbed. The computer units can alternatively or additionally be used to monitor the respective other computer unit and / or the individual image generation devices of the imaging system for correct function. In particular, plausibility checks may be carried out as to whether the function and / or information satisfy / satisfy plausibility criteria.

In particular, the use of redundant computer units enables secure and reliable transmission of information from the rail vehicle to a remote device, such as a vehicle control center. As an alternative to a vehicle control center, the information can be transmitted from the rail vehicle to, for example, another rail vehicle, for example a rail vehicle operated in the same rail network and / or track section, in particular moving. These operating modes (eg control center operation) will be discussed in more detail. Regardless of whether redundant computer units are used, all functions and features of a control center described in this description can alternatively or additionally be realized by the other rail vehicle. For example, the unprocessed or further processed image information of the image generation system may be sent to the control center and / or the further rail vehicle.

For example, the further rail vehicle may be a following vehicle traveling on the same track. In particular, when needed, for example when autonomous operation of the first rail vehicle having the imaging system is not possible or is restrictedly possible and / or supervised, the subsequent vehicle with the preceding first rail vehicle may be an actual train formation (ie rail vehicles) or are mechanically coupled to each other) or a virtual train (i.e., the rail vehicles are not mechanically coupled but move as if coupled together.) In either case, the driver can control the train in the following vehicle, in particular, control the ride an image display device which may have one or more screens, the image information obtained from the first rail vehicle and optionally image information further processed therefrom in the subsequent rail vehicle.

In particular, in combination with redundant computer units within the rail vehicle, as described above, but also in the presence of a single computer unit for processing the image information generated by the imaging system and even if the image information generated by the imaging system is not further processed within the rail vehicle, a redundant transmission of image information from the rail vehicle to the remote device is preferred. Therefore, two transmitting devices for transmitting image signals to a receiving device remote from the rail vehicle are proposed. In particular, the rail vehicle may have a first computer unit and a second computer unit, which are each connected to each of the four imaging devices via image signal connections, wherein the first computer unit is connected to a first transmission device for transmitting image signals to a receiving device remote from the rail vehicle and the second computer unit is connected to a second transmitting device for transmitting image signals to the receiving device remote from the rail vehicle.

This corresponds to an embodiment of the operating method in which a first computer unit and a second computer unit of the rail vehicle respectively receive image signals from each of the four image generating devices via image signal connections, wherein the first computer unit sends image signals to a receiving device remote from the rail vehicle via a first transmitting device and wherein the second Computer unit via a second transmitting device sends image signals to the remote from the rail vehicle receiving device.

The remote receiving device preferably has two receiving units, which are each connected to one of the transmitting devices of the rail vehicle. The connections between the transmitting devices and the receiving device are, in particular, radio links, preferably broadband radio links, such as e.g. according to the mobile radio standard LTE or the mobile radio standard UMTS. Preferably, the remote receiving device or an associated device checks whether the image signals sent by the first and the second transmitting device of the rail vehicle and optionally additionally transmitted information are complete and / or agree with respect to their information content. In the case of significant deviations or incompleteness, it may be decided that the operation of the rail vehicle and / or the transmission of information to the remote receiving device is disturbed. Image signals also mean that they are processed image signals that have been processed in particular by the computer units. However, alternatively or additionally, image signals which have not been processed by the computer units can be sent to the remote receiving device, in particular those image signals which were received by the computer units directly from the imaging system.

The transmission connections operated via the first transmission device and the second transmission device may be radio links of the same radio network. Alternatively, however, different radio networks are used for the transmission.

The redundancy with respect to the transmitting and receiving devices and also the signal connections enables reliable operation and / or reliable monitoring of the rail vehicle. In particular, an operation of the rail vehicle is possible, from a remote control center and / or by a another rail vehicle is controlled. This will be discussed in more detail below.

The third measure is based on the object of being able to operate a rail vehicle as reliably as possible without a driver. A driver is understood to mean a person who is traveling with the rail vehicle when the vehicle is moving and who controls the driving operation of the rail vehicle, in particular with regard to the traction and with respect to the braking of the rail vehicle.

It is proposed, using the image information generated by an imaging system of the rail vehicle, to control the driving operation of the rail vehicle automatically and thus without a driver. In particular possible collisions of the rail vehicle with obstacles of any kind are detected via the image generation system and, depending on the detection of an imminent collision, an automatic intervention in the control of the driving operation takes place. In addition, it is proposed to transmit the image information generated by the imaging system and / or processed image information generated therefrom by at least one device of the rail vehicle to a remote control center. The transmission can take place continuously and permanently during the driving operation. Alternatively, the transmission can take place when an automatic driving operation is not possible by means of the rail vehicle itself and / or if such an autonomous driving operation of the rail vehicle is disturbed or if there is at least an indication of a fault. Furthermore, it is possible for a control center, which is located remotely from the rail vehicle, to request the transmission of the image information from the rail vehicle, thereby triggering the transmission. This allows the control center and in particular a person working therein to monitor the autonomous operation of the rail vehicle, in particular, even if there is no fault and no indication of a fault.

In particular, the above-described first measure and / or second measure increases the reliability and safety of the autonomous operation, the monitoring and possibly one of the control center from remotely controlled operation of the rail vehicle. However, the third measure can also be realized without the first and second measures.

In particular, it is proposed: a system for operating a rail vehicle, in particular a rail vehicle, in one of the embodiments described in this specification, the system having the rail vehicle and a control station which is remote from the rail vehicle. By means of the control center, the already mentioned remote-controlled driving operation of the rail vehicle and / or a monitoring of the autonomous driving operation of the rail vehicle can be carried out. The rail vehicle preferably has a first transmission device, by means of which, during operation of the rail vehicle, image signals from each of the four image generation devices and / or further processed image signals generated by the computer unit of the rail vehicle are sent to a first reception device remote from the rail vehicle, wherein the control center is connected to the first receiving device and receives image signals received by the receiving device during operation of the rail vehicle, wherein the control station has an image display device, are generated and displayed during operation of the rail vehicle from the received image signals images, wherein the control center has a control device, are generated during operation of the rail vehicle control signals for controlling a driving operation of the rail vehicle, wherein the control center with a second transmitter connected during operation, the control signals to a second receiving device of the rail vehicle and wherein the rail vehicle has a driving system that receives and processes the control signals generated by the control device of the control center during operation of the rail vehicle and the driving operation of the rail vehicle accordingly executes the control signals.

A corresponding embodiment of the method of operation also relates to a system having the rail vehicle in one of the embodiments described herein and a control center, which is remote from the rail vehicle, wherein during operation of the rail vehicle image signals from each of the four imaging devices and / or from a Computer unit of the rail vehicle from the image signals generated further processed image signals are sent from a first transmitting device of the rail vehicle to a remote from the rail vehicle first receiving device, wherein the control center receives from the first receiving device received image signals, wherein the control center by means of an image display device from the received image signals images and represents, wherein the control center by means of a control device control signals for controlling a driving operation of the rail vehicle generates, wherein the control center sends the control signals to a second receiving device of the rail vehicle via a second transmitting device and wherein a driving system of the rail vehicle receives and processes the control signals from the second receiving device and executes the driving operation of the rail vehicle according to the control signals.

Instead of the four image forming devices, at least three of which form the first and the second stereo pair, the image forming system of the rail vehicle may have a different number of image forming devices whose image information is further processed by at least one computer unit of the rail vehicle and / or their image information without further processing of the first transmitting means is sent to the remote from the rail vehicle first receiving means.

The third measure has the particular advantage that a continuation of travel of the vehicle is possible in some cases, despite an obstacle that seems to block or block the route, by a remote controlled from the control center and / or the other rail vehicle driving. This is based on the recognition that there are obstacles that are erroneously classified as insurmountable by an automatic and autonomous driving system of the rail vehicle. Examples are lightweight but voluminous objects such as cover films, which are used eg on construction sites. It is also possible that an obstacle at slow approach by the rail vehicle voluntarily or automatically leaves the route, z. B. an animal. In particular, in these cases, for example, a person working in the control center can perceive images displayed on the image presentation device that are based on the image information of the vehicle imaging system. Furthermore, the person can control the driving operation of the rail vehicle via the control device of the control center. Even if the autonomous vehicle control on board the rail vehicle is disturbed, the driving operation can be controlled by the control center. With trouble-free operation of at least one stereo pair and with interference-free transmission of image information generated under certain circumstances may further receive and evaluate in the control center depth information on the area in the direction of travel in front of the rail vehicle. Optionally, the depth information is first generated in the control center from the respective stereo image pair. Therefore, a person in the control center, like a driver of a conventional rail vehicle, can not rely only on two-dimensional image information for controlling the driving operation.

The control center and / or the further rail vehicle has, in particular, an image display device for displaying image information obtained using the image generation system. In the case of available stereo image pairs or image information derived therefrom, which has an associated image or an associated sequence of images for the eyes of a viewer, the image display device may comprise, for example, a screen or an array of screens. Preferably, the image display device is combined with or has an optical device which, for example, by means of suitable apertured diaphragms and / or lenses enables the individual images to be viewed alone or predominantly by the associated eye of the observer. In particular, as an image display device, such a unit worn on the viewer's head is also suitable. In this way, the viewer can realistically perceive the space captured by the imaging system with his eyes.

If image information from the two stereo pairs is available, the integrity and / or correctness of the images displayed in the control center and / or the further rail vehicle can be ensured, for example by plausibility checking and / or comparison of image information and / or information derived therefrom ,

In particular, the at least one imaging device of the rail vehicle imaging system is a device having optics (i.e., optical means) for directing detected radiation incident on the device to a sensor which generates the image information, e.g. digital, two-dimensional image information.

Optionally, regardless of whether the information from a driver assistance system on board the rail vehicle, from an autonomous driving system of the vehicle and / or from a control center is used for the perception of the space outside the rail vehicle, not only an imaging system that uses two-dimensional images of the space outside the rail vehicle, but in addition at least one further sensor is used, which detects the surroundings of the vehicle. In particular, laser sensors, radar sensors and ultrasonic sensors are possible. As an alternative or in addition to the at least one imaging device which detects the space in the direction of travel in front of the rail vehicle, at least one of the said additional sensors and / or at least a further image generating device, which generates two-dimensional images, in particular by means of an optical system, detect spatial regions laterally of the rail vehicle and / or in the direction of travel behind the rail vehicle. In this way, all information required for the driving operation or the further operation of the rail vehicle (eg monitoring of boarding and disembarking passengers) can be detected.

Imaging devices and / or other sensors of the rail vehicle for detecting the space outside the rail vehicle and / or signal generator for outputting signals in the space outside the rail vehicle may be arranged in particular at least partially in a projection on the outer surface of the rail vehicle, which is bar-shaped. Therefore, at least one sensor and / or a signal generator can be arranged at least partially in the bar-shaped projection. In particular, a rail vehicle with a sensor for detecting a space outside the rail vehicle and / or with a signal generator for outputting signals in the space outside the rail vehicle is proposed, wherein the rail vehicle has on its outer surface a bar-shaped projection in which at least a part of Sensor and / or signal generator is arranged.

An advantage of the beam-shaped projection is that the construction of the rail vehicle compared to a design without beam-shaped projection has to be changed only slightly. All parts of the rail vehicle that are inside the outer shell of an existing rail vehicle construction can be carried out as before. For a bar-shaped projection, which is additionally provided on the outer surface of the rail vehicle, fixing areas for fastening the bar-shaped projection and for performing at least one connecting line of the sensor and / or signal generator can be found in a simple manner. The beam-shaped, elongated configuration of the projection makes it possible to freely position attachment points and passages within portions of the projection.

A bar-shaped projection also has the advantage that there is space for the arrangement of the at least one sensor and / or signal generator, which does not or only slightly claimed the space located inside the projection in the outer shell of the rail vehicle. Furthermore, a larger part of the outer space can be detected free of obstacles by a projection on the outer surface of the rail vehicle or signals can be sent in a larger part of the outer space obstacle-free signals than in an arrangement within planar or un-projected surface regions of the rail vehicle. The position of the sensor is therefore favorable for the detection of the external space and the position of the signal generator is favorable for the emission of signals in the outer space. For example, there is nothing to prevent detection of the exterior space and / or emission of signals in the vertical direction or approximately vertical direction to the floor immediately adjacent to the rail vehicle. This is particularly advantageous in the case of a projection of light, but also in the detection of persons or objects lying directly next to the rail vehicle. The bar-shaped projection also protects the sensor and / or signal transmitter against external influences. In particular, externally applied forces (for example, trees standing next to the track) can be picked up and removed by a portion of the beam-shaped projection before they can act on the sensor and / or signal generator. But the beam-shaped projection also protects against other external influences such as dirt, precipitation and moisture and / or sunlight.

The signal generator may in particular be an acoustic signal generator for outputting an acoustic signal (for example a warning) and / or an optical signal transmitter for outputting an optical signal. In particular, an optical signal is also understood to be light perceivable by persons, which, for example, can impinge on a projection surface, such as a road surface, so that characters and / or images, which are visually perceptible, are projected onto the projection surface. In the case of projection, the optical signal transmitter can therefore be referred to as a projector.

In particular, the beam-shaped projection extends in a longitudinal direction which is the direction of the largest outer dimension of the beam-shaped projection, the longitudinal direction extending transversely to the vertical direction along the outer surface of the rail vehicle. In particular, the longitudinal direction can follow the outer contour of the rail vehicle. In this case, the longitudinal direction corresponding to the outer contour may have a developed (for example, at the transition between unwound sidewalls of the rail vehicle) and / or curved (for example on curved side walls of the rail vehicle) course. The bar-shaped projection can be carried out in different ways / be. As a separate component of the bar-shaped projection can be attached to the outer surface of a rail vehicle body, for example by welding, gluing, riveting and / or screws. Alternatively or additionally, a positive connection is possible if the carbody is configured accordingly on its outer surface, for example, is provided with a in the longitudinal direction of the bar-shaped projection to be fastened extending profile / is, then the beam-shaped projection is attached / is. Alternatively, the beam-shaped projection can be designed as an integral part of the car body or the car roof of the rail vehicle / be.

Preferably, the cross-sectional profile of the beam-shaped projection, in particular with the exception of the end portions at the opposite ends in the longitudinal direction of the projection and / or with the exception of the area in which the sensor and / or signal generator is located, is constant in terms of shape and size of the cross section. Also in areas where the profile of the beam-shaped projection is angled in its longitudinal direction, e.g. to adapt to the outer contour of the rail vehicle, the shape and / or size of the cross section may differ from the otherwise constant cross section. A preferred cross-sectional shape is trapezoidal, with the longer of the parallel sides of the trapezium being inside and e.g. is connected to the outer surface of the car body and the shorter side of the parallel sides of the trapezium is on the outside. In this case, but also in other cross-sectional shapes (such as a triangular or a round, in particular semicircular cross-sectional shape), the projection tapers in the cross section from inside to outside. This has the advantage that stable attachment of the projection is simplified and objects such as e.g. Branches or twigs of trees next to the route, do not get caught on the ledge and do not get stuck.

As the material for the projection, in particular according to the cross-sectional shape angled metal or plastic sheet profiles, e.g. Polypropylene or other polymers in question. Fiber-reinforced plastics are also well suited due to their strength and their low weight.

In particular, the material of the beam-shaped protrusion forms at least one outer wall extending in the longitudinal direction thereof, which defines an interior of the beam-shaped protrusion from the outer space of the protrusion and the Railway vehicle delimits. Preferably, an elongated housing is formed in this way, wherein an interior or cavity of the bar-shaped projection extends in the longitudinal direction of the projection. It is preferred that the cavity without closed partition pass in different longitudinal sections from the one end region of the beam-shaped projection to the opposite end region of the beam-shaped projection. However, this does not exclude that different bar-shaped projections abut each other at their end regions. Alternatively, long, for example over several meters in length extending beam-shaped projections may be divided into longitudinal sections separated from each other. In the longitudinal direction continuous cavities, but also openings through bulkhead between separate longitudinal sections of the bar-shaped projection make it possible to lead at least one connecting line for electrical and / or signal-technical connection of the sensor and / or signal generator in the longitudinal direction of the projection (ie at least one connecting line extends in the longitudinal direction). If a plurality of connection lines are present and / or a plurality of sensors and / or signal transmitters are arranged in the bar-shaped projection with at least part of their volume, the connection lines can be laid in the form of cable harnesses as a trunk group in the bar-shaped projection. For example, the bundle is guided into the interior of the rail vehicle at a single transition point from the interior of the beam-shaped projection.

In particular, the beam-shaped projection may extend along an outer circumferential line which, viewed from above, extends around the rail vehicle. In this case, the beam-shaped projection preferably extends along side walls of a railcar body and / or around a front region of the rail vehicle. In the areas in which the bar-shaped projection is located, the projection rises in particular (eg in a horizontal direction) laterally, forwards or backwards (depending on the position of the area) from the outer surface of the vehicle. A longer beam-shaped projection has the advantage of providing space for sensors and / or transducers in different areas of the outer surface and, unlike a plurality of beam-shaped protrusions spaced apart, has fewer end portions against which objects may abut. It also offers the possibility of receiving connection lines of the sensors and / or signal transmitters over its entire longitudinal extension or at least a part thereof. Also other facilities of the rail vehicle, in particular Guides for guiding the movement of doors, can be integrated into the projection.

In particular, the beam-shaped projection in the manner of a ring can be closed in itself around the rail vehicle. This makes it possible to arrange sensors and / or signal transmitters at arbitrary positions in the circumferential direction of the vehicle.

Preferably, the beam-shaped projection extends above an outside window or above outside windows of the rail vehicle. In the area above the windows, sensors have a good position for detecting the space outside the rail vehicle and have a signal generator good position for emitting signals. Also come people, for example when entering and exiting because of the high height of the area above windows not in contact with the projection.

By evaluating at least one stereo image pair and in particular by evaluating a chronological sequence of the stereo image pairs generated by at least one stereo pair of image generation devices, it is possible to obtain not only depth information of objects on or on the route. Alternatively or additionally, the course of the travel path can be determined. This makes it possible, for example, to control the operation of the rail vehicle with regard to at least one further function. Possible further functions are, for example, the alignment of wheels (in particular corresponding to the curve radius of a curve of the travel path) of the rail vehicle on which the rail vehicle is traveling and the alignment or activation (eg the switching on) of at least one headlight (in particular according to the course a curve of the track and / or a preceding or following straight track section or curve with a different radius of curvature).

Fig. 1

eine Seitenansicht eines Schienenfahrzeugs, z.B. einer Straßenbahn oder Stadtbahn, wobei Einrichtungen des Schienenfahrzeugs schematisch dargestellt sind, welche über eine Funkverbindung mit einer externen Leitstelle verbunden sind,

Fig. 2

schematisch eine Draufsicht auf einen Frontbereich eines auf Schienen fahrenden Fahrzeugs mit einem Bilderzeugungssystem, welches zwei Stereo-Paare aufweist,

Fig. 3

ein Blockdiagramm mit Einrichtungen in einem Schienenfahrzeug, die über Funkverbindungen mit einer Leitstelle verbunden sind,

Fig. 4

eine vereinfachte Außenansicht eines Schienenfahrzeugs mit einem seitlich umlaufenden balkenförmigen Vorsprung, der oberhalb von Außenfenstern des Schienenfahrzeugs verläuft und in dem mehrere Sensoren zur Erfassung des Außenraums des Schienenfahrzeugs angeordnet sind,

Fig. 5

eine Darstellung ähnlich der in Fig. 4, z.B. von demselben Schienenfahrzeug wie in Fig. 4, jedoch von der gegenüberliegenden Seite oder eine Darstellung eines ähnlichen Schienenfahrzeugs,

Fig. 6

eine Frontansicht eines Schienenfahrzeugs mit einem von den Seitenwänden des Schienenfahrzeugs um die Front herumlaufenden balkenförmigen Vorsprung, in dem Sensoren zur Erfassung des Fahrzeug-Außenraumes angeordnet sind,

Fig. 7

schematisch einen Querschnitt durch einen Wagenkasten eines Schienenfahrzeugs, wobei der Wagenkasten im Bereich von einer Schiebetür einen balkenförmigen Vorsprung hat, der sich in Längsrichtung des Wagenkastens erstreckt und eine Führung zur Führung einer Bewegung der Schiebetür enthält,

Fig. 8

schematisch eine Anordnung von vier Bilderzeugungseinrichtungen ähnlich wie in Fig. 2 oder Fig. 6, wobei alle vier Bilderzeugungseinrichtungen funktionsfähig sind,

Fig. 9

die Anordnung aus Fig. 8, wobei jedoch eine der vier Bilderzeugungseinrichtungen ausgefallen oder gestört ist und dennoch zwei Stereo-Paare der Bilderzeugungseinrichtungen gebildet sind, und

Fig. 10

die Anordnung aus Fig. 8, wobei jedoch eine andere der vier Bilderzeugungseinrichtungen als bei Fig. 9 ausgefallen oder gestört ist und zwei andere Stereo-Paare der Bilderzeugungseinrichtungen als be Fig. 9 gebildet sind.

Embodiments of the invention will now be described with reference to the accompanying drawings. The basis of the Fig. 1 to 10 described embodiments include only sensors. However, it is possible to replace at least one of the sensors by a signal generator and / or to arrange, in addition to the sensors, at least one signal generator at least partially in the bar-shaped projection. The individual figures of the drawing show:

Fig. 1

a side view of a rail vehicle, such as a tram or light rail, with devices of the rail vehicle are shown schematically, which are connected via a radio link with an external control center,

Fig. 2

2 is a schematic plan view of a front portion of a rail vehicle with an imaging system having two stereo pairs;

Fig. 3

a block diagram with devices in a rail vehicle, which are connected via radio links to a control center,

Fig. 4

a simplified external view of a rail vehicle with a laterally encircling beam-shaped projection which extends above the outer windows of the rail vehicle and in which a plurality of sensors for detecting the outer space of the rail vehicle are arranged,

Fig. 5

a representation similar to the one in Fig. 4 , eg from the same rail vehicle as in Fig. 4 but from the opposite side or a representation of a similar rail vehicle,

Fig. 6

a front view of a rail vehicle with a running around the front of the side walls of the rail vehicle bar-shaped projection, are arranged in the sensors for detecting the vehicle exterior,

Fig. 7

1 schematically shows a cross-section through a body of a rail vehicle, the vehicle body having in the region of a sliding door a bar-shaped projection which extends in the longitudinal direction of the car body and contains a guide for guiding a movement of the sliding door;

Fig. 8

schematically an arrangement of four imaging devices similar to in Fig. 2 or Fig. 6 where all four imaging devices are functional,

Fig. 9

the arrangement Fig. 8 However, wherein one of the four imaging devices has failed or disturbed and yet two stereo pairs of the image forming devices are formed, and

Fig. 10

the arrangement Fig. 8 However, a different one of the four imaging devices than in Fig. 9 failed or disturbed and two other stereo pairs of imaging devices as be Fig. 9 are formed.

This in Fig. 1 shown rail vehicle 1 has left in the figure, a front area and right in the figure, a rear area. However, it is also possible that the vehicle 1 can drive in the reverse direction during normal operation, for example, if in the end region shown on the right is also a driver's station or if at least all required for a ride to the right facilities such as headlights are present.

In the two left and right in Fig. 1 In each case, an imaging system is shown with at least one imaging device and preferably the at least four imaging devices mentioned above. Illustrated in the left end region is an image generating device 2a of a first image forming system and in the right end region an image forming device 2b of a second image forming system. These two imaging systems each detect the outer space of the vehicle 1 located in front of or behind the end area. For example, the image generation devices 2 a, 2 b are digital cameras that continuously generate two-dimensional images of the exterior space.

The image forming devices 2 of the first and second image forming systems are each provided with separate image signal connections 10a, 10b; 11a, 11b connected to a first computer unit 20a and a second computer unit 20b. The first computer unit 20a is arranged in the left-hand end area or an adjacent central area of the vehicle 1. The second computer unit 20b is arranged in the right-hand end area or an adjacent central area of the vehicle 1. Consequently, the image signal connections 10a, 10b extend in the longitudinal direction or along the longitudinal direction through the vehicle 1 to the computer unit.

The computer units 20 are each combined with a transmitting device which in Fig. 1 not shown separately. From the transmitting device image signals via a radio link 40a, 40b are sent to a control center 60. The radio links are separate radio links, preferably via different mobile radio networks, so that if one of the networks fails, one of the radio links 40a, 40b can still be operated.

Via the radio links 40a, 40b, the image information generated by the first and second image generation systems can be processed by the Computer units 20a, 20b and / or in further processed form (eg with depth information of detected objects) are transmitted to the control center 60. It is therefore also a variant of in Fig. 1 illustrated embodiment in which instead of the first computer unit 20a only one transmitting device for transmitting the non-processed image information is present and / or instead of the second computer unit 20b, only a transmitting device for transmitting the non-processed image information is present. If at least one of the computer units 20a, 20b processes image information, the computer unit is at least a part of an evaluation device. Unlike shown in the figures, only a single evaluation device may be present. In particular, this evaluation device receives images from four image generation devices, all of which have a common detection area (spatial area), ie at least part of all four detection areas is identical.

It is also preferable for the control center 60 to send information about the rail vehicle 1 via the transmission of signals via a radio link 50a and / or 50b. For example, the transmitting devices of the vehicle 1, which is / are combined with the first computer unit 20a or the second computer unit 20b or which is provided instead of the computer unit 20, also include a receiving device for receiving the radio signals from the control station 60 Fig. 1 Signal processing device shown is connected to the radio links 50a, 50b and can process the signals received from the control center 60 and, for example, control the driving operation of the vehicle 1.

The schematic in Fig. 2 illustrated rail vehicle 1, which is the rail vehicle 1 from Fig. 1 can act, has in its front area an imaging system with four imaging devices 2, 3, 4, 5. In this case, the first image forming device 2 and the second image forming device 3 form a first stereo pair 2, 3 having a greater horizontal distance from one another than the third image generating device 4 and the fourth image forming device 5 forming a second stereo pair 4, 5 ,

In the specific embodiment of Fig. 2 are the opening angle of the detected area of the individual imaging devices 2-5 space areas in the direction of travel in front of the vehicle 1 the same size. Due to the greater distance of the imaging devices 2, 3 but the common part 8a of the first Stereo pair 2, 3 detected space located at a greater distance in front of the rail vehicle 1 as the common part 8b of the detected by the second stereo pair 4, 5 space.

Indicated in Fig. 2 also the course of the two rails 7a, 7b through in the Fig. 2 horizontally running dashed lines. An oval region with the reference numeral 9 represents an object lying in front of the vehicle 1 in the direction of travel, which is located completely in the common part 8b of the second stereo pair 4, 5, but only partially in the common part 8a of the first stereo. Pair 2, 3 is located.

The first stereo pair 2, 3 is used to detect one at a greater distance (ie in the in Fig. 2 As a result, the accuracy of detection of the space ahead in the direction of travel of the rail vehicle 1 can be increased compared to the use of a single stereo pair. Unlike in Fig. 2 2, 3, the opening angle of the first and second image forming means 2, 3 may be smaller than the opening angle of the third and fourth image forming means 4, 5 and / or by non-illustrated optical means combined with the image forming means 2-5 included in the generated images sharply detected spatial region in the first stereo pair 2, 3 farther away from the rail vehicle 1 than in the second stereo pair 4.5.

In Fig. 3 For example, a rectangular frame designated by the reference numeral 1 schematically represents the outer contour of a rail vehicle, for example, the rail vehicle 1 Fig. 1 and or Fig. 2 , Furthermore, in Fig. 3 a designated by the reference numeral 60 rectangular frame is the outer contour of a control center for the operation of at least one rail vehicle.

In the embodiment of Fig. 3 has the rail vehicle 1 as at Fig. 2 two stereo pairs 2, 3; 4, 5, which together form an imaging system. However, the imaging system may alternatively comprise a different number of imaging devices. As an alternative, at least the four imaging devices of the Fig. 3 be present, but only three of them are operated simultaneously (that is, in the same phase of operation) and still form two stereo pairs. In any case, each of the image forming devices 2-5 of Image generating system via a first image signal connection 11 with a first computer unit 20a and via a separate, second image signal connection 10 with a second computer unit 20b. During operation of the imaging system, these image signal connections 10, 11 become the same image signals from the imaging device
2-5 transmitted to the two computer units 20a, 20b. Furthermore, the two computer units 20 process the received image signals or the image information contained therein in the same way, which in particular enables mutual monitoring of the computer units 20 and / or a comparison of the results of the processing.

Image information further processed by the two computer units 20 and / or the non-processed image information received from the computer units 20 is / are transmitted in the exemplary embodiment both to a central vehicle controller 23 and to a first transmitter 21a and a second transmitter 21b, each corresponding to transmit the information-containing signals via separate radio links 40a, 40b to a remote from the rail vehicle 1 receiving means 63a or 63b. Thus, a first signal connection 40a from the first transmission device 21a to the first reception device 63a and a second signal connection 40b from the second transmission device 21b to the second reception device 63b. Optionally, additional signals generated by the central vehicle controller 23 are transmitted via the first and second signal connection 40a, 40b, wherein the central vehicle controller 23 optionally uses the first and second transmission device 21a, 21b or even has a first and second transmission device.

The first and second receiving devices 63a, 63b are connected to an image display device 61 of the control station 60. Furthermore, the control center 60 has a control device 62, which is connected via a transmitting device not shown in detail and a radio signal connection 50 with the central vehicle control 23. The corresponding receiving device of the signal connection 50, which is part of the rail vehicle 1, can be, for example, a device which is combined with the first transmitting device 21a or the second transmitting device 21b, or it can be realized, for example, as a separate receiving device integrated in the central vehicle control 23 , Optionally, a second, to the Signal connection 50 redundant radio link for the transmission of signals from the control center 60 to be provided to the vehicle 1, such. In Fig. 1 ,

The following is an example of a preferred operation of the schematically shown in FIG Fig. 3 described arrangement described. The imaging system of the vehicle 1 detects the particular in the direction of travel in front of the vehicle 1 space and generates corresponding two-dimensional images of the room. The image information thus generated is transmitted via the first and second signal connections 10, 11 to the first and second computer units 20. In the presence of at least one stereo pair, each of the computer units 20a, 20b calculates depth information of the objects detected with the images and optionally additionally calculates whether a collision of the vehicle 1 with an obstacle on the route is imminent. It can also be calculated whether an object is likely to move on the route when the object is moving.

The results of the calculations, and preferably at least portions of the unprocessed image information obtained by the imaging system, are transmitted from the computer units 20 to the central vehicle controller 23, which controls the driving of the rail vehicle 1 using the information received from the computer units 20, and accordingly In particular, a driving system 25, in particular a traction and braking system, the rail vehicle 1 drives. In this way, an autonomous, driverless operation of the vehicle 1 is possible.

Notwithstanding the embodiment described above, although the central vehicle controller 23 may receive the depth information calculated by the computer units 20, it may itself calculate any impending collisions. Optionally, to further increase the reliability, the central vehicle controller 23 may also have redundant computer units that run redundantly, ie separately from each other in the same way all running in their data processing processes. Alternatively or additionally, the central vehicle controller 23 can compare the information received from the two computer units 20a, 20b and check whether significant deviations exist. Optionally, the central vehicle controller 23 can determine in this way a disturbance of at least the operation of a computer unit and / or a part of the image generation system.

Optionally, the central vehicle controller 23 generates signals which are the result of processing the signals received from the two computer units 20, and sends these signals to the control center 60 via the first and second radio signal links 40a, 40b. In any case, it is preferred that those of the computer units 20 output signals via the first and second transmitting means 21a, 21b and the first and second radio link 40a, 40b are transmitted to the control center 60.

Optionally, the image display device 61 may be combined with a computing device (not shown) which processes the images to be displayed in such a way that they are displayed on the image display device 61. Optionally, this computing device can check whether the signals received via the separate radio signal connections 40a, 40b differ significantly from each other and therefore the operation is partially disturbed. In particular, appropriate measures can be taken automatically in the event of a fault by the control center 60 sending signals to the central vehicle control unit 23 via the radio signal connection 50.

In particular, at least one person in the control center 60 views the images displayed on the image display device 61. This can be limited to periods in which the central vehicle control unit 23 can not autonomously control the driving operation of the vehicle 1. By operating the control device 62, the person can generate control signals, which are transmitted via the radio signal connection 50 to the central vehicle control 23. In particular, the person can remotely control the driving operation of the rail vehicle 1 in this way. Alternatively or additionally, the person can only generate control signals for monitoring the operation of the rail vehicle 1, which are transmitted via the radio signal connection 50 to the central vehicle control 23 and causes a transmission of signals via the radio signal connections 40, which are required for monitoring.

This in Fig. 4 Rail vehicle 101 shown, for example, the rail vehicle 1 from one of Fig. 1 to Fig. 3 his. It has a bar-shaped projection 80 running above windows 121 in the side walls 113 of the vehicle 101 and also above windows 122 in the front region of the vehicle 101, in which a plurality of sensors 2, 105, 106, 107 are integrated or at least one Part of their respective volumes are integrated. In the case of partial integration, a portion of the sensor may protrude outwardly of the beam-shaped projection and / or inwardly. In particular, the bar-shaped projection 80 may be recessed on the underside of the respective sensor or immediately laterally of the respective sensor, in order to enable the sensor to detect obstacle-free areas of space outside of the rail vehicle 101. In the left in Fig. 4 shown area of the vehicle 101, which is aligned in the direction of travel forward, for example, is the image forming device 2 from one of Fig. 1 to 3 and optional others, not in Fig. 4 Illustrated imaging devices of an imaging system for detecting a space area in the direction of travel in front of the vehicle 101st

In the in Fig. 4 illustrated embodiment, the beam-shaped projection 80 extends from the right in Fig. 4 illustrated transition region to an adjacent body of a vehicle or vehicle part coupled to the vehicle 101 along the longitudinal direction of the vehicle 101 on the front side wall 113 in the image and then around the front region of the vehicle 101. Preferably, as in Fig. 5 1, the beam-shaped projection 80 extends further from the front area, counter to the longitudinal direction, along the opposite side wall 113, which is in FIG Fig. 5 is shown. Also in the in Fig. 5 shown portion of the bar-shaped projection 80 are sensors 105, 107 and 108 for detecting the outer space of the rail vehicle 101. In the in Fig. 5 the front area shown in the direction of travel looking forward is another image forming device 5 of the imaging system. The sensors 105, which are likewise arranged in the front region, but not in the foremost region of the front region, can be, for example, radar or ultrasound sensors. The sensors 106, 107 and 108 arranged on the side walls 113 may be, for example, digital cameras which, when they stop at stops, detect the area outside the vehicle and in particular around the vehicle doors 102, 103.

The in Fig. 6 shown front portion of a rail vehicle 101, which is the rail vehicle 101 from Fig. 4 and or Fig. 5 can also show a bar-shaped projection 80, which runs around the front area. It can be seen the four image forming devices 2-5, the imaging system from Fig. 2 and Fig. 3 correspond. This example shows that the four sensors 2-5 of the imaging system can in particular be arranged next to each other, preferably side by side in the horizontal direction. In this case, the first sensor 2 and the third sensor 4 are arranged directly next to one another and have the smallest possible (in particular zero) distance from one another.

Alternatively, the sensors of the imaging system could not in a bar-shaped projection, but z. B. flush with the flat outer surface of the vehicle or z. B. behind the windshield of the rail vehicle, so that they capture the space outside of the rail vehicle through the windscreen through. In particular, when a windshield wiper is operated, which reciprocates along the windscreen, the image acquisition is repeatedly disturbed. In particular, when temporal image sequences are detected, such disturbing effects can be corrected, for example, by image analysis software and / or hardware.

The cross section in Fig. 7 shows that a beam-shaped projection 80 can not only be used for the arrangement of sensors, but can also include a guide 117 for a vehicle door 102. The corresponding car body 109 of the rail vehicle 101 contains in the illustrated embodiment at the illustrated cross-sectional position only on one side of a sliding door 102. Alternatively, the car body may also have on the opposite side at the same cross-sectional position a sliding door. Such sliding doors 102 can be moved to open and close only in the straight direction. They differ from conventional doors, which are moved outward from the closed position to an open position, for example, by a superimposed rotary movement.

In summary, therefore, the use of a beam-shaped projection on the outer surface of a rail vehicle can be stated as follows: A beam-shaped projection may e.g. be present when sliding doors are used, which are not moved outward to open. In this case, the beam-shaped projection may have at least a part of the movement guide for moving the sliding door when opening and closing. Alternatively or additionally, the bar-shaped projection may contain connecting lines, in particular power supply lines and signal connections, via which the sensors arranged at least partially in the bar-shaped projection are connected to other devices of the rail vehicle, such as transmitting devices and computer units.

In the Fig. 8 shown arrangement of four imaging devices 2, 3, 4, 5 represents a concrete embodiment for the design of the distances between the juxtaposed imaging devices. However, there are other designs possible. For example, the next adjacent ones of the juxtaposed image forming devices may all be at equal distances from each other, ie, the distance to the next image forming device is the same for all image forming devices. The two middle imaging devices therefore each have a next adjacent imaging device in the opposite directions. Also in this case, if one of the four image forming devices fails, a first stereo pair with a smaller pitch and a second stereo pair with a larger pitch can always be formed.

In the in Fig. 8 In the case shown, the largest distance between two imaging devices, namely the distance between the imaging device 2 and the imaging device 3 is designated A. The distances between nearest neighboring imaging devices are designated B, C, D. The distances are all different. For example, if all four imaging devices are capable of smoothly providing images of the vehicle surroundings to an evaluation device, the image generating devices 2, 5 (with a distance equal to the sum of the distances B and C) become the first stereo pair and the Image generating devices 2, 3 (at a distance A) operated as a second stereo pair. The image forming device 2 is available as a reserve. Alternatively, z. B. the image forming means 3, 5 (at a distance D) as the first stereo pair and the image forming means 2, 4 (at a distance C) are operated as a second stereo pair.

If like in Fig. 9 symbolically represented by a cross the image generating device 5 failed or disturbed, begins a new phase of operation in which the image generating devices 3, 4 (at distance E) as the first stereo pair and the image forming devices 2, 4 (at a distance C) as the second stereo Couple are operated. Also, the distances C, E differ significantly from each other, so that the different stereo pairs are well suited for the detection of different depth ranges (ie distance ranges to the vehicle).

If like in Fig. 10 symbolically represented by a cross the image generating device 2 failed or disturbed, begins after one of Fig. 8 mentioned operating phases, a new phase of operation, in which the image forming means 3, 5 (at distance D) as a first stereo pair and the image forming means 4, 5 (at distance B) as second stereo pair are operated. Also, the distances B, D differ significantly from each other, so that the different stereo pairs are well suited for the detection of different depth ranges.

In the event of failure or malfunction of one of the image generating devices 3, 4, the same applies as to FIGS. 9 and 10 explained. It is always possible to form stereo pairs with different distances.

Claims (12)

Rail vehicle (1) having an imaging system for detecting a space outside the rail vehicle (1), wherein the imaging system has four imaging devices (2, 3, 4, 5), each of the four imaging devices (2, 3, 4, 5) can generate or generate two-dimensional images of the space during operation of the imaging system, a first (2) and a second (3) of the four imaging devices (2, 3, 4, 5) are arranged at a first distance from one another on the rail vehicle (1) and form a first stereo pair (2, 3), that captures a first common part (8a) of the room from different angles, a third (4) and a fourth (5) of the four imaging devices (2, 3, 4, 5) are arranged at a second distance from one another on the rail vehicle (1) and form a second stereo pair (4, 5), which detects a second common part (8b) of the room from different angles, and further the first common part (8a) of the space detected by the first stereo pair (2, 3) starts at a greater distance to the rail vehicle (1) than the second common part (8b) of the room which is from the room second stereo pair (4, 5) is detected, - The first common part (8a) of the space, which is detected by the first stereo pair (2, 3), mainly at greater distances to the rail vehicle (1) than the second common part (8b) of the space, of the second stereo pair (4, 5) is detected, and / or - The first stereo pair (2, 3) for detecting a spaced greater distance from the rail vehicle space than the second stereo pair (4, 5) is configured. Rail vehicle according to one of claim 1, wherein the first distance is greater than the second distance, the aperture angle of the spatial regions detected by the first and second image generating means (2, 3) is smaller than the aperture angle of the spatial regions detected by the third and fourth image generating means (4, 5) and / or optical means are combined with the first to fourth image generating means (2-5) so that the spatial area sharply detected in the generated images is further away from the rail vehicle (1) than the second one in the first stereo pair (2,3) Stereo pair (4, 5). A railway vehicle according to claim 1 or 2, wherein said image forming system comprises a first computer unit (20a) and a second computer unit (20b) connected to each of said four image forming means (2, 3, 4, 5) via image signal links (10, 11), respectively , Rail vehicle according to claim 3, wherein the first computer unit (20a) and the second computer unit (20b) are configured to calculate depth information over a depth of image objects (9) independently of one another from image signals received via the image signal connections (10, 11) during an operation of the image generation system two-dimensional images of a pair of the four imaging devices or two different pairs of the four imaging devices, the depth extending in a direction transverse to an image plane of the two-dimensional images, and / or - The first computer unit (20a) having a first transmitting means (21a) for transmitting image signals to a remote from the rail vehicle (1) receiving means (63) is connected and the second computer unit (20b) with a second transmitting means (21b) for transmitting Image signals to the of the rail vehicle (1) remote receiving means (63) is connected. System for operating a rail vehicle (1) with the rail vehicle (1) according to one of Claims 1-4 and with a control station (60) which is remote from the rail vehicle (1), the rail vehicle (1) having a first transmission device, by image signals from each of the four imaging devices (2, 3, 4, 5) and / or by a computer unit of the rail vehicle (1) during operation of the rail vehicle (1) Image signals generated further processed image signals to a of the rail vehicle (1) remote first receiving means (63) are sent, wherein the control station (60) is connected to the first receiving means (63) and during operation of the rail vehicle (1) from the first receiving means ( 63), wherein the control center (60) has an image display device (61) from which images are generated and displayed from the received image signals during operation of the rail vehicle (1), the control center (60) having a control device (62). has, during the operation of the rail vehicle (1) control signals for controlling a driving operation of the rail vehicle (1) are generated, wherein the control center (60) is connected to a second transmitting device, via which during operation the control signals to a second receiving means of the Rail vehicle (1) are sent and where the rail A vehicle (1) has a driving system (25) which receives and processes the control signals generated by the control device (62) of the control station (60) during operation of the rail vehicle (1) and carries out the driving operation of the rail vehicle (1) in accordance with the control signals. Method for operating a rail vehicle (1), wherein an imaging system of the rail vehicle (1) with at least four imaging devices (2, 3, 4, 5) detects a space outside the rail vehicle (1), each of the at least four imaging devices (2, 3, 4, 5) can generate or generate two-dimensional images of the space, - A first and a second of the at least four image forming means (2, 3, 4, 5) are arranged at a first distance from each other on the rail vehicle (1) and form a first stereo pair (2, 3) having a first common part (8a) of the room from different angles, - A third and a fourth of the at least four image forming means (2, 3, 4, 5) are arranged at a second distance from each other on the rail vehicle (1) and form a second stereo pair (4, 5) having a second common part (8b) of the room from different angles, and further the first common part (8a) of the space detected by the first stereo pair (2, 3) starts at a greater distance to the rail vehicle (1) than the second common part (8b) of the room which is from the room second stereo pair (4, 5) is detected, - The first common part (8a) of the space, which is detected by the first stereo pair (2, 3), mainly at greater distances to the rail vehicle (1) than the second common part (8b) of the space, of the second stereo pair (4, 5) is detected, and / or - The first stereo pair (2, 3) detected at a greater distance from the rail vehicle space area detected as the second stereo pair (4, 5). Method according to claim 6, wherein the four imaging devices (2, 3, 4, 5) are arranged in a front region of the rail vehicle (1) and during travel of the rail vehicle (1) capture the common space area in the direction of travel in front of the rail vehicle (1). A method according to claim 6 or 7, wherein the first distance is greater than the second distance, the aperture angle of the spatial regions detected by the first and second image generating means (2, 3) is smaller than the aperture angle of the spatial regions detected by the third and fourth image generating means (4, 5) and / or optical means are combined with the first to fourth image generating means (2-5) so that the spatial area sharply detected in the generated images is further away from the rail vehicle (1) than the second one in the first stereo pair (2,3) Stereo pair (4, 5). Method according to one of claims 6 to 8, wherein a first computer unit (20a) of the rail vehicle (1) and a second computer unit (20b) of the rail vehicle (1) are used. The method of claim 9, wherein - The first to fourth image generating device via image signal connections (10, 11) transmit image signals both to the first computer unit (20a) and to the second computer unit (20b) and the first computer unit (20a) and the second computer unit (20b) independently of one another from the image signals calculate depth information about a depth of image objects (9) associated with the two-dimensional images of the first stereo pair (2, 3) and / or the second stereo pair (4, 5), the depth extending in a direction transverse to an image plane of the two-dimensional images, and / or - The first computer unit (20a) and the second computer unit (20b) each image signal connections (10, 11) receive image signals from each of the four image generating means (2, 3, 4, 5), wherein the first computer unit (20a) via a first transmitting device Transmitting image signals to a receiving device (63) remote from the rail vehicle (1) and wherein the second computer unit (20b) sends image signals to the receiving device (63) remote from the rail vehicle (1) via a second transmitting device. Method according to one of claims 6 to 10, wherein image signals from each of the four imaging devices (2, 3, 4, 5) and / or further processed image signals generated by a computer unit of the rail vehicle (1) from the image signals via a transmitting device to one of the rail vehicle (1) remote first receiving means (63) and are received by the first receiving means (63) as received image signals, wherein in a control station (60) remote from the rail vehicle (1) images are generated and displayed from the received image signals in the control center (60) control signals for controlling a driving operation of the rail vehicle (1) are generated and sent to a second receiving device of the rail vehicle (1) and wherein the driving operation of the rail vehicle (1) is carried out in accordance with the control signals. A method of operating a rail vehicle (1) according to any one of claims 6-10, as part of a system which also includes a control station (60) remote from the rail vehicle (1), wherein during operation of the rail vehicle (1) image signals from each of the four imaging devices (2, 3, 4, 5) and / or from a computer unit of the rail vehicle (1) from the image signals generated further processed image signals from a first transmitting device (21a) of the rail vehicle (1) to one of the rail vehicle (1 ) remote first receiving means (63) with the control station (60) receiving image signals received by the first receiving device (63), wherein the control station (60) generates and displays images from the received image signals by means of an image display device (61), the control station (60) being controlled by means of a control device (60). 62) generates control signals for controlling a driving operation of the rail vehicle (1), wherein the control center (60) via a second transmitter means sends the control signals to a second receiving device of the rail vehicle (1) and wherein a driving system (25) of the rail vehicle (1) the control signals receives and processes from the second receiving device and executes the driving operation of the rail vehicle (1) in accordance with the control signals.

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